JeffrinSam/bimanual-ur3-dreamzero

Bimanual UR3 Dataset (DreamZero / LeRobot v2)

Dual UR3 arms with Robotiq 2F-85 grippers, three RGB cameras (main + left/right wrist). Prepared for DreamZero embodiment fine-tuning.

Stats

• Episodes: 106
• FPS: 30.0
• State/action dim: 14 (6+1 per arm)
• Embodiment tag: bimanual_ur3

Layout

data/chunk-000/episode_XXXXXX.parquet
videos/chunk-000/observation.images.*/episode_XXXXXX.mp4
meta/modality.json, stats.json, ...

Training

BIMANUAL_DATA_ROOT=D:\SKOLTECH\THESIS\dreamzero\bimanual_data_gear bash scripts/train/bimanual_ur3_training.sh